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The ANSER Project - Multi UAV Data Fusion and Cooperation
Salah Sukkarieh
Australian Center for Field Robotics
The University of Sydney
Monday, November 4th, 2002, 4:00pm-5:00pm
540AB Cory Hall (DOP Center Classroom)
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Abstract
The aim of the Autonomous Navigation and Sensing Research (ANSER) Project is to demonstrate multiple UAVs
conducting Decentralised Data Fusion (DDF) and to further explore the use of the DDF paradigm as the foundation for
cooperation and coordination algorithms.
The project has developed 4 fixed wing UAVs each capable of carying upto 30kg and flying at 200km/hr. Onboard each
UAV is a vision and inertial load. A laser/Vision and radar node are also placed to complete the DDF network.
Results show that the DDF algorithms provide decentralised fusion for Picture Compilation purposes (that is, the
generation of a map of constant velocity targets). Currently work is being conducted on airborne Simultaneous
Localisation and Map Building (SLAM - which is the process of navigating without a-priori information), and is
being exteded to DDF SLAM.
With the DDF paradigm one can now pose the question of which UAV should observe which target based on information
gains. Simulation results will be presented on multi-UAV cooperation using mutual information gains for the
coordination of the UAVs
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